EP3663798A1 - Détecteur optoélectronique et procédé de détection et de détermination de distance des objets - Google Patents

Détecteur optoélectronique et procédé de détection et de détermination de distance des objets Download PDF

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Publication number
EP3663798A1
EP3663798A1 EP18210917.3A EP18210917A EP3663798A1 EP 3663798 A1 EP3663798 A1 EP 3663798A1 EP 18210917 A EP18210917 A EP 18210917A EP 3663798 A1 EP3663798 A1 EP 3663798A1
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EP
European Patent Office
Prior art keywords
light
sensor
signal
distance
reception
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Granted
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EP18210917.3A
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German (de)
English (en)
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EP3663798B1 (fr
Inventor
Fabian Jachmann
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Sick AG
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Sick AG
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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/4861—Circuits for detection, sampling, integration or read-out
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak

Definitions

  • the invention relates to an optoelectronic sensor and a method for detecting and determining the distance of objects in a surveillance area according to the preamble of claims 1 and 13, respectively.
  • the scanning beam can be moved, as is done in a laser scanner.
  • a light beam generated by a laser periodically sweeps over the monitoring area with the aid of a deflection unit.
  • the angular position of the object is inferred from the angular position of the deflection unit, and the location of an object in the monitoring area is thus recorded in two-dimensional polar coordinates.
  • the scanning movement is achieved by a rotating mirror.
  • Laser scanners are used in safety technology to monitor a source of danger, such as a dangerous machine.
  • a safety laser scanner is from the DE 43 40 756 A1 known.
  • a protective field is monitored that operating personnel must not enter while the machine is in operation. If the laser scanner detects an impermissible protective field intervention, e.g. With an operator, he triggers an emergency stop of the machine.
  • Other interventions in the protective field for example by static machine parts, can be taught in beforehand as permissible.
  • the protective fields are preceded by warning fields, where interventions initially only lead to a warning in order to prevent the protective field intervention and thus the protection in good time and thus increase the availability of the system.
  • Safety laser scanners mostly work on a pulse basis.
  • Sensors used in safety technology must work particularly reliably and therefore meet high safety requirements, for example the standard EN13849 for machine safety and the device standard IEC61496 or EN61496 for non-contact protective devices (ESPE).
  • ESE non-contact protective devices
  • a number of measures must be taken, such as secure electronic evaluation using redundant, diverse electronics, function monitoring or monitoring the contamination of optical components, in particular a windscreen, and / or providing individual test targets with defined reflectance levels, which are under the corresponding scan angles must be recognized.
  • the distance measurement in a time-of-flight method is carried out by a pulse method or alternatively a phase measurement.
  • a pulse method a further distinction is made between single pulse methods, which measure a distance from each received pulse again, and so-called pulse averaging methods, in which a large number of individual measurements are evaluated together.
  • pulse averaging method is used, for example, in EP 1 972 961 A1 presented.
  • the EP 2 469 296 A1 deals with the further development of a pulse averaging process for laser scanners. This creates the problem that the individual measurements are not made in the same angular direction by the scanning movement, and that EP 2 469 296 A1 specifies various possibilities for advantageously combining the individual measurements into a distance value and assigning them to a scan angle.
  • reception pulses are not added directly. Rather, a filter is provided in each case in the analog reception path, for example a bandpass filter, which generates an oscillation from the reception pulse. This oscillation is shown in a histogram instead of the actual reception pulse accumulated and then evaluated the histogram. This leads to a more stable evaluation with more uniform signal shapes. Compared to the evaluation of the received pulse itself, the sensitivity is reduced.
  • a filter is provided in each case in the analog reception path, for example a bandpass filter, which generates an oscillation from the reception pulse. This oscillation is shown in a histogram instead of the actual reception pulse accumulated and then evaluated the histogram. This leads to a more stable evaluation with more uniform signal shapes. Compared to the evaluation of the received pulse itself, the sensitivity is reduced.
  • the sensor is a distance-measuring sensor which emits a light signal, receives it again and determines the distance from the object which has reflected the light signal from the light propagation time.
  • a pulse-based time-of-flight method is preferably used, the light signal then has a light pulse.
  • a receiver circuit is assigned to the light receiver, which processes the received signal before the evaluation. In a first reception path of the receiver circuit, the reception signal excites an oscillation, this oscillation signal is preferably initially amplified and then transferred to the control and evaluation unit. In a pulse method, therefore, no received pulses are evaluated, but rather the oscillation signals generated by the received pulses by means of the first received path.
  • the receiver circuit is preferably analog, and the control and evaluation unit is digital.
  • the invention is based on the basic idea of offering a choice between the evaluation of the vibration signal and an alternative evaluation.
  • the receiver circuit instructs a second reception path for direct reading. No oscillation is generated in it, but the received pulse itself is passed on to the evaluation. It should be noted that it is technically impossible to read the received pulse in its pure form, a certain swinging on and off is inevitable due to parasitic effects. In any case, the directly read out received signal has a much stronger main peak, and the decay quickly subsides.
  • the first reception path or the second reception path is activated by means of a switching element, that is to say switched between the two modes.
  • the two reception paths may share lines and components, the switching element, for example, bridging or connecting certain components depending on the mode.
  • the invention has the advantage that particularly high accuracy is achieved via the first mode or reception path, and particularly high sensitivity is achieved via the second mode.
  • the sensor can be configured for different requirements for a specific mode or the modes can alternate. The advantages of both modes are thus combined in one and the same sensor.
  • the first reception path preferably has a vibration filter.
  • Light signals are always unipolar. By the received light signal pushing the vibration filter, this unipolar received signal is converted into a bipolar damped vibration.
  • a reception point in time can be determined on the basis of a zero crossing, for example by downstream digital signal processing. This zero crossing practically does not depend on the signal strength and can therefore be used particularly robustly for determining the distance.
  • the vibration filter is, for example, a bandpass filter or a differentiating element, preferably an oscillating circuit. This means that specifically switching elements with inductance and capacitance are provided as resonant circuits, not just inevitable parasitic effects.
  • the second reception path preferably has a shunt resistance. Its resistance value is preferably of the order of magnitude of the input resistance of the further reception path, that is to say in particular of a downstream amplifier.
  • a current flows through the shunt resistor, which creates a voltage drop over which the light signal is measured directly, i.e. without artificially triggering an oscillation.
  • a certain swinging in and out cannot be prevented due to parasitic effects even with a shunt resistance.
  • Shunt resistance and vibration filter are preferably connected in series, and the shunt resistance can be bridged or not by means of the switching element.
  • the two reception paths are not completely separated, but have a partial overlap. If the shunt resistance is bridged in the first mode, the first reception path is active, in which the vibration filter is triggered. In the second mode, the shunt resistance is not bridged, so that a corresponding voltage drop is generated and measured directly.
  • the switching element is, for example, a bypass, which is optionally closed or opened with a transistor.
  • the first reception path and the second reception path preferably have partial branches which are parallel to one another and from which a partial branch can each be connected to the light receiver by means of the switching element.
  • the switchover element selects one of the sub-branches and thus the first or second reception path, with which in particular either the resonant circuit or the shunt resistor is connected.
  • the control and evaluation unit is preferably designed to store mode information with the associated state of the switching element for a respectively determined value for the distance.
  • the mode information is a kind of flag, which indicates whether a measurement value was obtained in the first mode or in the second mode. This means that a selection can be made afterwards in which an evaluation with special accuracy requirements tends to be based on the measured values recorded in the first mode and an evaluation with special sensitivity requirements is based more on the measured values recorded in the second mode.
  • the mode information can also be used as an additional evaluation. For example, it is known that a measured value obtained in the second mode is somewhat less accurate and may require a different or even a color or black and white correction.
  • the control and evaluation unit is preferably designed to emit a plurality of transmitted light signals in succession, to accumulate information about the respective remitted or reflected light signals in a histogram and to evaluate the histogram in order to determine the light propagation time.
  • the control and evaluation unit is preferably designed to switch the switching element at least once between the repeatedly emitted transmission light signals for determining a value for the distance.
  • a lot of switching patterns are conceivable.
  • the first half of the individual measurements are carried out in one mode A and the other half in the second mode B.
  • Nesting has the advantage that the measurement conditions remain comparable in changing environments. Particularly in the case of a laser scanner, which will be discussed in more detail immediately, there is constant dynamics due to the scanning movement, in which a nesting of the mode via the individual measurements can be useful.
  • the sensor is preferably designed as a laser scanner with a movable deflection unit for periodically deflecting the transmitted light signals into the monitoring area. This enables area monitoring with a large monitored area.
  • a laser scanner preferably has an angle measuring unit for generating angle position signals as a function of an angular position of the deflection unit in order to detect object positions or contours in two dimensions. Periodic deflection in a further axis even enables 3D detection.
  • the control and evaluation unit is preferably designed to switch the switching element between two periods of the periodic deflection. This can also be expressed in such a way that an entire scan, i.e. an acquisition of the monitoring area, takes place in the same mode and is switched between the scans. Switching patterns with uniform alternation such as ABAB, with preference for a mode such as AABAAB and other switches are conceivable.
  • the control and evaluation unit is preferably designed to switch the switching element between two determinations of a distance.
  • This switchover does not take place only after a scan, but rather already after a respective measurement of a distance, that is to say in particular after one or more angular steps.
  • This switchover variant is not limited to laser scanners.
  • the mode does not have to be switched after each measurement, but can remain the same over several measurements.
  • switching from measurement to measurement means switching before the next histogram is accumulated, not like some paragraphs before between individual measurements within the accumulation of a histogram, both of which can be combined with one another.
  • switching patterns such as ABAB for a double measurement with both modes at halved measurement repetition frequency, or in the case of the laser scanner angular resolution, but also AABAAB with higher quoting for one mode or more complicated sequences such as AABABAABAB and others.
  • a mode can also be selected for a longer operating time, be it configuration, ex works or up Command from a higher-level control.
  • the mode can be made dependent on ambient conditions or measurements, such as an object distance, an object remission or the like, which in turn can be based on assumptions, configurations or own measurement values.
  • the sensor preferably has a safety output, the control and evaluation unit being designed to recognize impermissible interventions in protective fields within the monitoring area and then to output a safety-related shutdown signal at the safety output.
  • the sensor can be used in safety-related applications. Examples are security scanners or safe distance-measuring light grids.
  • FIG. 1 shows a block diagram of an optoelectronic sensor 10 in an embodiment as a distance sensor.
  • a light transmitter 12 is aligned in such a way that its transmitted light 14 transmits a splitter mirror 16 and then arrives in a monitoring area 20 via an optical system 18.
  • the transmitted light 14 when an object 22 is in the beam path, is reflected or remitted on this object 22 and returns as remitted light 24 through the optics 18 to the splitter mirror 16, where it is reflected in a light receiver 26 and detected there.
  • the divider mirror arrangement is to be understood purely by way of example; the invention also includes other arrangements without a divider mirror, such as double eyes.
  • the light receiver 26 generates a reception signal which is fed to a control and evaluation unit 30 via a receiver circuit 28.
  • a receiver circuit 28 This is preferably based on the Figures 3 to 7 Receiver circuit 28 explained in more detail analog and the control and evaluation unit 30 digital, for example an FPGA (Field Programmable Gate Array).
  • an A / D converter (not shown) is then provided at the end of the receiver circuit 28, which is also used only as a comparator or binarizer or for multi-threshold scanning EP 2 942 645 A1 can be trained.
  • the control and evaluation unit 30 determines a light propagation time between the transmission of the transmitted light 14 and the reception of the remitted light 24 and therefrom a distance from the object 22 with the aid of the speed of light.
  • the transmitted light is modulated, preferably for a single pulse or a pulse averaging method with a transmitted light pulse .
  • the measurement results are provided at an output 32, depending on the embodiment as distance values, as a binary object detection signal depending on the presence or absence of an object 22 in a certain distance range, or as raw data.
  • FIG. 2 shows a schematic sectional illustration of a further embodiment of the optoelectronic sensor 10 as a laser scanner.
  • a light transmitter 12 for example with a laser light source, generates a transmission light beam 14, preferably with transmission light pulses, with the aid of transmission optics (not shown).
  • the transmission light beam 14 is emitted into the monitoring area 20 by means of a rigid deflection unit 34a and a movable deflection unit 34 and is remitted there by an object which may be present.
  • the remitted light 24 returns to the laser scanner and is detected there by the light receiver 26, for example a photodiode or, for higher sensitivity, an avalanche photodiode (APD) via the movable deflection unit 34 by means of receiving optics 36.
  • the light receiver 26 for example a photodiode or, for higher sensitivity, an avalanche photodiode (APD) via the movable deflection unit 34 by means of receiving optics 36.
  • APD avalanche photodiode
  • the movable deflection unit 34 is set in a continuous rotary movement with a scanning frequency by a motor 38. As a result, the transmitted light beam 14 scans a plane during each scanning period, that is to say one complete revolution at the scanning frequency.
  • An angle measuring unit 40 is arranged on the movable deflection unit 34 in order to detect the respective angular position of the movable deflection unit 34.
  • the angle measuring unit 40 is formed here, for example, by a reticle as an angle measure and a fork light barrier as a scan.
  • a control and evaluation unit 30 is connected to the light transmitter 12, via a receiver circuit 28 to the light receiver 26, and to the motor 38 and the angle measuring unit 40.
  • the control and evaluation unit 30 measures the distance of the touched object by means of the time-of-flight method.
  • the respective angular position at which the transmitted light beam 14 was emitted is known to the control and evaluation unit 30 from the angle measuring unit 40.
  • two-dimensional polar coordinates of all object points in the monitoring area 20 are available over the angle and the distance, which can be provided at the output 32.
  • the output 32 can be designed to be safe (OSSD, Output Signal Switching Device), and the control and evaluation unit 30 additionally evaluates whether a protective field is violated and a safety-related shutdown signal must be output at the output 32.
  • this laser scanner is only to be understood as an example; other laser scanners, for example with a rotating measuring head instead of a rotating mirror, are also possible as a movable deflection unit 34.
  • Figures 3 and 4 show two different configurations of an analog reception path, which have their respective advantages and disadvantages and which are combined according to the invention in a receiver circuit 28, which will later be described with reference to FIG Figures 6 and 7 is described.
  • Figure 5 is a schematic representation of the respective received signals, ie a respective time-dependent intensity profile for Figure 3 with solid and for Figure 4 with a dashed line when a light pulse hits the light receiver 26.
  • the light receiver 26 here as an APD with a high voltage supply 42 or alternatively as a simple photodiode, is connected to an oscillating circuit 44 with inductance L1 and capacitance C1.
  • the pulse current generated when a light pulse is received in the light receiver 26 excites the resonant circuit 44.
  • the downstream switching elements in particular an amplifier and A / D converter, are connected to the connection point 46 in the direction of the control and evaluation unit 30
  • Transfer vibration signal shown with a solid line The time of reception can be fixed at a zero crossing, for example.
  • a sensor 10 with an oscillating circuit 44 is very narrow-band and robust against noise sources, in particular shot noise in the APD of the light receiver 26, which is caused by high external light.
  • the oscillating circuit 44 ensures a more uniform signal shape regardless of the shape or amplitude of the received light pulse.
  • the so-called color or black and white shift which relates to a level dependence of the measured distance value, plays a subordinate role.
  • the design is according to Figure 3 more robust and accurate, while designing according Figure 4 a higher sensitivity and range, however, with larger measurement errors, drift over temperature and a certain sensitivity to ambient light.
  • Figure 6 shows an embodiment of a receiver circuit 28, which the two based on the Figures 3 and 4 presented variants combined.
  • the basic structure remains the same as in Figure 3 .
  • the shunt resistor 48 is now arranged in series with the resonant circuit 44. If the resistance value R1 of the shunt resistor 48 is approximately as large as or greater than the input resistance of the downstream components at the connection point 46, that is to say in particular of the amplifier connected there, the result is Figure 4 described broadband characteristic with high sensitivity.
  • a transistor 50 is provided in parallel with the shunt resistor 48, with which the shunt resistor 48 can be bridged or short-circuited.
  • This transistor 50 is connected to the control and evaluation unit 30, which carries out a respective switchover and can also make this accessible to the user or a higher-level control as a sensitivity adjustment of the sensor 10. If the shunt resistor 48 is short-circuited, then when a light pulse is received the Vibrating circuit 44 excited, and it results in the Figure 3 described narrowband characteristic with high accuracy and stability.
  • FIG 7 shows a further embodiment of a receiver circuit 28, which the two based on the Figures 3 and 4 presented variants combined.
  • resonant circuit 44 and shunt resistor 48 are connected in parallel in respective branches instead of in series.
  • Two transistors 50a-b are now provided, which are controlled such that one transistor 50a is open and the other transistor 50b-a is closed. This effectively results in the circuits Figures 3 and 4 .
  • the senor 10 offers the choice between the two modes described. This selection can be made once on the device or for a longer operating time, for example by configuration depending on the requirements of the upcoming application or by factory setting.
  • Switching in a laser scanner is conceivable both within a scan and between different scans. With the same setting for an entire scan, the laser scanner works accordingly particularly precisely or particularly sensitively. When changing within a scan, so to speak "from shot to shot”, there are nested angular grids. In both cases it will be repeated Possibility of different patterns from permutations of n * A and m * B pointed out, for example ABAB, AABAAB, ABBAABBA etc. A switchover can also take place at defined scan angles, at specified times or after defined time intervals.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
EP18210917.3A 2018-12-07 2018-12-07 Détecteur optoélectronique et procédé de détection et de détermination de distance des objets Active EP3663798B1 (fr)

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EP18210917.3A EP3663798B1 (fr) 2018-12-07 2018-12-07 Détecteur optoélectronique et procédé de détection et de détermination de distance des objets

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EP18210917.3A EP3663798B1 (fr) 2018-12-07 2018-12-07 Détecteur optoélectronique et procédé de détection et de détermination de distance des objets

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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0283538A1 (fr) * 1987-03-26 1988-09-28 Messerschmitt-Bölkow-Blohm Gesellschaft mit beschränkter Haftung Dispositif détecteur
DE4340756A1 (de) 1992-12-08 1994-06-09 Sick Optik Elektronik Erwin Laserabstandsermittlungsvorrichtung
DE19757849B4 (de) 1997-12-24 2004-12-23 Sick Ag Scanner und Vorrichtung zur optischen Erfassung von Hindernissen, sowie deren Verwendung
EP1972961A2 (fr) 2007-03-22 2008-09-24 Sick Ag Capteur optoélectronique et procédé de mesure de l'éloignement ou de la modification de l'éloignement
EP2469296A1 (fr) 2010-12-21 2012-06-27 Sick AG Capteur optoélectronique et procédé destiné à la détection et la détermination de l'éloignement d'objets
EP2942645A1 (fr) 2014-05-08 2015-11-11 Sick Ag Capteur télémétrique et procédé destiné à la détection et la détermination de l'éloignement d'objets
US20160116575A1 (en) * 2014-10-27 2016-04-28 Laser Technology, Inc. and Kama-Tech (HK) Limited Technique for a pulse/phase based laser rangefinder utilizing a single photodiode in conjunction with separate pulse and phase receiver circuits
EP3059608A1 (fr) * 2015-02-20 2016-08-24 Sick Ag Capteur optoélectronique et procédé destiné à la détection d'objets

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0283538A1 (fr) * 1987-03-26 1988-09-28 Messerschmitt-Bölkow-Blohm Gesellschaft mit beschränkter Haftung Dispositif détecteur
DE4340756A1 (de) 1992-12-08 1994-06-09 Sick Optik Elektronik Erwin Laserabstandsermittlungsvorrichtung
DE19757849B4 (de) 1997-12-24 2004-12-23 Sick Ag Scanner und Vorrichtung zur optischen Erfassung von Hindernissen, sowie deren Verwendung
EP1972961A2 (fr) 2007-03-22 2008-09-24 Sick Ag Capteur optoélectronique et procédé de mesure de l'éloignement ou de la modification de l'éloignement
EP2469296A1 (fr) 2010-12-21 2012-06-27 Sick AG Capteur optoélectronique et procédé destiné à la détection et la détermination de l'éloignement d'objets
EP2942645A1 (fr) 2014-05-08 2015-11-11 Sick Ag Capteur télémétrique et procédé destiné à la détection et la détermination de l'éloignement d'objets
US20160116575A1 (en) * 2014-10-27 2016-04-28 Laser Technology, Inc. and Kama-Tech (HK) Limited Technique for a pulse/phase based laser rangefinder utilizing a single photodiode in conjunction with separate pulse and phase receiver circuits
EP3059608A1 (fr) * 2015-02-20 2016-08-24 Sick Ag Capteur optoélectronique et procédé destiné à la détection d'objets

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